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Completed TRL 3 (started at 2, targeting 3)
Motiv Space Systems (Motiv) proposes a transformative robotic solution, CrossLink, for On-Orbit Servicing, Assembly, and Manufacturing (OSAM). Crosslink is a fusion of existing and emerging technologies under development at Motiv. For OSAM activities to realize their full potential, robotic systems of the future must improve in a number of key areas. CrossLink will enable future OSAM activities through: Low-Cost, Mobile, Modular Robotic Manipulation System The CrossLink robotic system will be architected utilizing the xLink robotic arm architecture as its basis. xLink is designed to be a highly modular, easy to re-configure system, and as such the previously designed components can be shared across both xLink and CrossLink. High Bandwidth, Open Architecture, Plug-and-Play Connectivity (SpacECAT) Based upon Motiv’s ground robotics products, an EtherCAT communication architecture will be developed and prototyped on direct path to flight hardware utilizing Motiv’s Flight DELTA motor controller. This new SpaceECAT architecture will provide high speed and bandwidth communication across the CrossLink Robotic Arm tools, mobility, and tasks as well as any other on orbit SpaceECAT enabled devices. Furthermore, this will enable the use of Motiv’s ROS control tools to be used for flight systems. Robotic Mobility and Generalized Tool Utilization The grappling end-effector will enable the mobility and tool use of the CrossLink system. The end-effector acts as both a structural and electrical connection for passing power and communication signals to the spacecraft and other SpacECAT enabled tools/devices.
NASA's OSAM programs are developing ever sophisticated robotic technologies and tools. An emphasis on modularity, scalability and affordability is growing within the community. The CrossLink addresses each of these points of emphasis and provides options for NASA in its pursuit of assembly activities on orbit. Specific mission concepts include the In-Space Assembled Telescope, aggregated instrument payloads assembled on truss systems for complex science gathering, assembly of 3D printed structures, Internal Gateway Robotics, etc.
As NASA and other government agencies create mission roadmaps for OSAM related activities, commercial entities are building business plans to create an industrial operated sector complete with services. The CrossLink can support mission services including space tugs, material transfer between depots, and on-orbit construction of integrated systems following multiple launches.
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